State of the art document on Validation of simulation models for ship manoeuvring (original) (raw)
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Simulation Augmented Manoeuvring Design and Monitoring: a New Method for Advanced Ship Handling
TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, 2014
A fast time simulation tool box is under development to simulate the ships motion with complex dynamic models and to display the ships track immediately for the intended or actual rudder or engine manoeuvre. Based on this approach the innovative "Simulation Augmented Manoeuvring Design and Monitoring"-SAMMON tool box will allow for (a) a new type of design of a manoeuvring plan as enhancement exceeding the common pure way point planning (b) an unmatched monitoring of ship handling processes to follow the underlying manoeuvring plan. During the manoeuvring process the planned manoeuvres can be constantly displayed together with the actual ship motion and the predicted future track which is based on actual input data from the ship's sensors and manoeuvring handle positions. This SAMMON tool box is intended be used on board of real ships but it is in parallel an effective tool for training in ship handling simulators: (a) in the briefing for preparing a manoeuvring plan for the whole exercise in some minutes, (b) during the exercise run to see the consequences of the use of manoeuvring equipment even before the ship has changed her motion and (c) in debriefing sessions to discuss potential alternatives of the students decisions by simulating fast variations of their choices during the exercises. Examples will be given for results from test trials on board and in the full mission ship handling simulator of the Maritime Simulation Centre Warnemuende. http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 8 Number 1
Mathematical model of the ship manoeuvring
Analele Universităţii "Dunărea de Jos" din Galaţi. Fascicula XI, Construcţii navale/ Annals of "Dunărea de Jos" of Galati, Fascicle XI, Shipbuilding
Starting with the initial design phase, the knowledge of the ship manoeuvring performance is an important problem. One of the methods to evaluate the manoeuvring characteristics is based on the time domain simulation of the standard manoeuvring tests. A typical mathematical model that may be used to determine the manoeuvring characteristics of the ships is presented in this paper.
Development of a test program for the prediction of ship manoeuvrability in deep and shallow water
2006
As in many coastal and estuary areas, navigation to and in the Belgian harbours takes place in environmental and operational conditions which differ from the design conditions of seagoing ships: water depth to draft ratios vary between 2.0 and 1.1 which means that the under keel clearance is often restricted to 10% of the ship’s draft. In addition, low ship velocities have to be considered as manoeuvring in harbour areas is characterised by a wide range of speed – propeller rpm combinations. Based on the results of captive model tests executed in the Towing Tank for Manoeuvres in Shallow Water (co-operation Flanders Hydraulics Research – Ghent University, Antwerp, Belgium) with a 6000 TEU containership and the tanker Esso Osaka, an optimized test program has been developed for the determination of a mathematical manoeuvring model in laterally unrestricted water. Contrary to deep water and service speed the selected test types and test parameters will influence the measured contribut...
2006
The Flemish waterways authorities are permanently concerned about safety of navigation to the Flemish harbours in order to maintain their present position in the European shipping market. Special attention is paid to the effect of the constant growth of ship dimensions, especially in the container trade, on the safety of shipping traffic. Access to and manoeuvring in harbours are characterised by a great diversity of kinematical and control parameters. In 2004-2005 a captive model test program has been executed with a 4.3 m model of an 8000 TEU containership (scale 1:81) combining three distinguished drafts and three under keel clearances from deep to very shallow water. This test program covering all possible combinations of ship velocities and propeller telegraph positions has been used to evaluate hull, propeller and rudder forces to be incorporated in a manoeuvring simulation model applicable in the four quadrants of operation. The influence of combinations of draft and under ke...
Theoretical background and application of MANSIM for ship maneuvering simulations
Ocean Engineering, 2019
In this study, a new developed code, MANSIM (MANeuvering SIMulation) for ship maneuvering simulations and its theoretical background were introduced. In order to investigate the maneuverability of any low-speed ship with single-rudder/single-propeller (SPSR) or twin-rudder/twinpropeller (TPTR) configurations, a 3-DOF modular mathematical model or empirical approaches can be utilized in MANSIM. Not only certain maneuvers of ships such as, turning or zigzag but also free maneuver with unlimited number of rudder deflections can be simulated. Input parameters required to solve the equations of motion can be estimated practically by several empirical formulas that are embedded in the software. Graphical user interface of the code was designed simply so that users can perform maneuvering calculations easily. Besides displaying the results such as advance, transfer, tactical diameters etc. on the user interface, simulation results can also be analyzed graphically; thus it is possible to examine the variation of kinematic parameters during simulation. Using the code, maneuverabilities of a tanker ship (KVLCC2) and a surface combatant (DTMB5415) have been investigated and computed results were compared with free running data for validation. It is considered that MANSIM is quite advantageous for parametric studies and it is a valuable tool especially for sensitivity analysis on ship maneuvering. In this context, the effects of variation of hydrodynamic derivatives and rudder parameters on general maneuvering performance of ships were investigated by performing sensitivity analyses. It was found out that linear moment derivatives and rudder parameters are highly effective in maneuvering motion. Another interesting outcome of this study is the identification of the significance of third order coupled derivatives for DTMB5415 hull.
Mathematical models for ship path prediction in manoeuvring simulation systems
Ocean Engineering, 2002
The problem of simulating the ship manoeuvring motion is studied mainly in connection with manoeuvring simulators. Several possible levels of solution to the problem with different degrees of complexity and accuracy are discussed. It is shown that the structure of the generic manoeuvring mathematical model leads naturally to two basic approaches based respectively on dynamic and purely kinematic prediction models. A simplified but fast dynamic manoeuvring model is proposed as well as two new advances in kinematic prediction methods: a prediction based on current values of velocities and accelerations and a method of anticipating the ship's trajectory in a course changing manoeuvre.
2003
Most formulations of mathematical modelling of ship manoeuvres in shallow water discussed in literature are based on expressions for the deep water case. Several usual and unusual phenomena occurring during manoeuvres at limited under keel clearance (10% to 50%) are not considered. A tabular model for the hull forces is proposed, taking the shallow water condition as starting point, with the intention to cover wide ranges of kinematical parameters so that a great variety of manoeuvres can be simulated. The implementation of the mathematical model is based on captive model tests with 4 m models of the tanker Esso Osaka and a fourth generation container carrier. The experimental program consists of well-known, classical PMM test types combined with alternative tests. Preliminary guidelines are formulated for the selection of test parameters, taking account of their influence on the hydrodynamic coefficients.
Simulation-Augmented Methods for Safe and Efficient Manoeuvres in Harbour Areas
TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, 2016
Safety of navigation is especially challenging and critical when a ship approaches and manoeuvres in harbour areas. Improving the safety especially in the first and last phase of a voyage is crucial and requires measures addressing both the human and technical-technological elements including support systems that shall provide human operators with information relevant for decision making. The present situation is characterized by the introduction of numerous sophisticated technical and support systems often integrated with several components becoming increasingly complex. On the users end, changes are not that obvious and not that rapid as for technology. However, new approaches are under development or already in use. They are characterized by applying and adapting solutions from other transport modes. In this way, tasks and procedures on ships, that are highly safety-relevant and containing high portions of manoeuvring activities have been changed to high backup procedures as in air planes. For port manoeuvres e.g. the system of pilot/co-pilot was introduced on ferries in a sense that one officer is operating and the other is monitoring and checking the safe performance. In cruise shipping, new structures replacing the traditional rank-based with a flexible system based on job functions. This system creates a kind of a safety net around the person conning the vessel. Each operation is cross checked before execution by one or two other persons. The first obvious consequence is higher costs due to doubling personnel. On the other hand there is also a need for a technology appropriately supporting the checking officer by enabling her or him to monitor what the conning officer is doing. "Fast-Time Manoeuvring Simulation Technology" (FTS) developed at the Institute for Innovative Ship Simulation and Maritime Systems (ISSIMS) has huge potential to fulfil this task. FTS calculates within one second of computing time up to 1000 seconds of real manoeuvring time by a very complex ship-dynamic simulation model for rudder, engine and thruster manoeuvres. It enables prompt prediction of all manoeuvres carried out by the conning officer for the observing officer, too. Predictions of path and motion status allow all officers to see whether the manoeuvring actions have at least the correct tendency or indicating the need for corrections. This new type of support is called Simulation-Augmented Manoeuvring Design and Monitoring (SAMMON)-it allows not only overlooking the next manoeuvring segment ahead but also for the following or even for series of manoeuvring segments. This technology has been used within two research projects: COSINUS (Co-operative Ship Operation in Integrated Maritime Traffic Systems) set out for implementing FTS into integrated ship bridges and to also communicate the manoeuvre plans and display it to VTS centres. Within the European project MUNIN (Maritime Unmanned Navigation through Intelligence in Networks) this technology has been used to investigate if it is possible to steer autonomous ships, in case it would be necessary.